Power Supply System

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The API of the power supply system can only perform query actions on information data such as battery information

Check the information of the left battery

Function Overview： Subscribe to the Topic for feedback on the left battery information.
Topic： system/batteries/left
Msg Type： tita_system_msgs/msg/BatterieStates
Code Example： ros2 topic echo /[namespace]/system/batteries/left

Check the information of the right battery

Function Overview： Subscribe to the Topic for feedback on the right battery information.
Topic： system/batteries/right
Msg Type： tita_system_msgs/msg/BatterieStates
Code Example： ros2 topic echo /[namespace]/system/batteries/right

Check the information of the supercapacitor

Function Overview： Subscribe to the Topic for feedback on supercapacitor information. Topic： system/batteries/super
Msg Type： tita_system_msgs/msg/BatterieStates
Code Example： ros2 topic echo /[namespace]/system/batteries/super

Check the power supply statistics information

Function Overview： Subscribe to the Topic for feedback on power supply statistics information.
Topic： system/power_supply/info
Msg Type： tita_system_msgs/msg/PowerSupplyInfo
Code Example： ros2 topic echo /[namespace]/system/power_supply/info

Note

Enable the power data upload feature by modifying the file /usr/share/power_bridges/conf/tita_power.toml, set record_battery_info=1 (#0 to disable, 1 to enable)